نسخة أولية وصول مفتوح
Rethinking Causal Action Tokenization with Conditional Annealing in Flow Matching
Autoregressive Vision-Language-Action (VLA) models offer a scalable path to robot learning, yet existing action tokenizers treat tokenization as a compression problem, producing representations that are semantically misaligned with the autoregressive backbone. We propose CATok, a causal action tokenizer that reframes t …